Description:FIELD OF THE INVENTION

[0001] The present invention relates to an automated crop harvesting device that harvests crops from an agricultural field by cutting the ripened crop and creating a bundle of the harvested crop by knotting the bundle in an automated manner, thereby eliminating manual efforts and consumption of time.

BACKGROUND OF THE INVENTION

[0002] Harvesting of crops is the process of gathering mature crops from the fields, marking the end of the growing season. Crop harvesting includes various steps such as cutting, threshing (separating grain from the plant), cleaning, and transporting the produce for storage or sale. Proper harvesting ensures the crop is collected at its peak ripeness, maximizing yield and quality. If crops are not harvested properly or on time, they may spoil, lose nutritional value, or get damaged, leading to reduced market value. Effective harvesting also prevents wastage and ensures efficient processing for future use or distribution.

[0003] Traditionally, people harvest crops by hand using tools like sickles or scythes to cut the stalks at the base. Farmers work row by row, manually cutting the crop and laying it on the ground. Once a sufficient amount is gathered, the harvested crop is bundled by tying the stalks together with natural fibers, ropes, or straw. These bundles, often referred to as sheaves, are then left to dry in the field or transported for further processing. While effective, this method is physically demanding and time-consuming, requiring significant manual labor and often resulting in inefficiencies.

[0004] CN112616436A discloses about a crop harvesting device comprising a shell, a first wheel, a second wheel, a third wheel, a pushing handle, a mounting block and the like. A cutting device and an adjusting device are included, the first wheel, the second wheel and the third wheel are rotatably connected to the lower portion of the shell, the pushing handle is fixedly connected to the upper portion of the shell, the mounting block is fixedly mounted at one side of the lower portion in the shell, the motor is fixedly connected to the upper portion of the mounting block, the cutting device is arranged in the shell, and the motor is connected with the cutting device; and the adjusting device is arranged above the outer portion of the shell and connected with the cutting device. The crop harvesting device achieves the effect of automatically harvesting soybeans. Though, CN’436 discloses about an invention that relates to a crop harvesting device. However, the cited invention lacks in creating bundle of the harvested crop in an automated manner by knotting the bundle.

[0005] CN111183782A discloses about a crop harvesting device comprising a vehicle body, a cutter and a storage box, wherein a connecting frame is welded at the upper part of the vehicle body, a reel is connected to the upper part of the connecting frame, a divider is welded at the upper part of the connecting frame, the cutter is arranged in the connecting frame, a sliding frame is arranged in the connecting frame, a sliding strip is arranged at one end of the cutter and nested in the sliding frame, a push rod motor is mounted at the upper part of the connecting frame, and the output end of the push rod motor is connected with a push rod. When a harvester advances, the cutter can slide back and forth, and harvesting is more thorough; and when agricultural machinery is used, a QR code is scanned, the agricultural machinery can be used, the shared agricultural machinery can be returned after being used, the use cost of the agricultural machinery is reduced, and the utilization rate of the agricultural machinery is increased. Though, CN’782 discloses about an invention that relates to a crop harvesting device. However, the cited invention lacks in cutting the crop by detecting ripening of the crop.

[0006] Conventionally, many devices have been developed that are capable of harvesting crop from an agricultural field. However, these devices are incapable of creating bundle of the harvested crop in an automated manner by knotting the bundle, and fails in reducing manual efforts and consumption of time in the overall process. Additionally, these existing devices also lacks in cutting the crop by detecting ripening of the crop.

[0007] In order to overcome the aforementioned drawbacks, there exists a need in the art to develop a device that is capable of harvesting crops from an agricultural field in a self-sufficient manner by cutting and creating a bundle of the crops. In addition, the developed device also collects the bundle of the harvested crop and notifies the user to gather collected bundles.

OBJECTS OF THE INVENTION

[0008] The principal object of the present invention is to overcome the disadvantages of the prior art.

[0009] An object of the present invention is to develop a device that is capable of harvesting crop from an agricultural field in an automated manner by detecting the positioning of the crop and accordingly maneuvering over the field, thereby reducing manual efforts and consumption of time.

[0010] Another object of the present invention is to develop a device that is capable of creating bundle of harvested crop by automatically cutting and knotting a twine around the harvested crop bundle, thereby eliminating the need to manually create bundles or knotting the bundles.

[0011] Yet another object of the present invention is to develop a device that is capable of detecting weight of the harvested crop bundles and accordingly notifies the user by means of audio notifications to collect the harvested crop bundles.

[0012] The foregoing and other objects, features, and advantages of the present invention will become readily apparent upon further review of the following detailed description of the preferred embodiment as illustrated in the accompanying drawings.

SUMMARY OF THE INVENTION

[0013] The present invention relates to an automated crop harvesting device that is capable of harvesting crop from an agricultural field by creating bundles of the crop in an automated manner. Further, the device is capable of collecting the bundle of the harvested crop in a self-sufficient manner without any manual intervention.

[0014] According to an embodiment of the present invention, an automated crop harvesting device comprises of a platform developed to be positioned on a ground surface of an agricultural field, a touch interactive display panel installed on the platform for enabling a user to provide input specifications for harvesting crop from the field, an artificial intelligence-based imaging unit is installed on the platform and paired with a processor to determine distance of the crops from the platform, direct the wheels to move the platform over the surface, plurality of motorized wheels are provided at bottom portion of the platform to provide mobility to the platform over the surface to positon the platform in proximity to the crop, a motorized C-shaped clamp is installed on the platform by means of an extendable rod to extend/retract for positioning the clamp in proximity to bundle stem of the crop, a laser sensor embedded in the clamp to detect dimensions of the bundle stem, based on which the clamp acquires grip of the stem, a chamber arranged on the clamp housing a motorized roller coiled with twines to dispense a twine from an opening carved on the chamber, and a pair of motorized clippers are installed on inner periphery of the clamp to acquire a grip of ends of the twine.

[0015] According to another embodiment of the present invention, the proposed device further comprises of a motorized circular slider integrated in between the clipper and clamp for translating the clippers to wrap the twine around the grabbed bundle stem of the crop, a motorized cutter mounted on the platform by means of a robotic link for positioning the cutter on bottom portion of the stem to cut the stem for harvesting the crop, upon successfully forming bundle of the harvested crop the rod and clamp position the harvested crop into a container positioned on the platform for collecting the harvested crop thereby allowing the user to collect the harvested crop, a color sensor is embedded in the clamp to detect ripened crop from the field, the clippers are equipped with a machine learning protocol relating knotting of the twine which enables the clippers to wrap and secure the twine around the bundle stem, a weight sensor is embedded in the container for measuring weight of the harvested crop bundles, a speaker 110 installed on the platform for producing audio signals to notify the user to gather the harvested crop, and a battery is configured with the device for providing a continuous power supply to electronically powered components associated with the device.

[0016] While the invention has been described and shown with particular reference to the preferred embodiment, it will be apparent that variations might be possible that would fall within the scope of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS

[0017] These and other features, aspects, and advantages of the present invention will become better understood with regard to the following description, appended claims, and accompanying drawings where:
Figure 1 illustrates an isometric view of an automated crop harvesting device; and
Figure 2 illustrates an isometric view of a motorized C-shaped clamp associated with the proposed device.

DETAILED DESCRIPTION OF THE INVENTION

[0018] The following description includes the preferred best mode of one embodiment of the present invention. It will be clear from this description of the invention that the invention is not limited to these illustrated embodiments but that the invention also includes a variety of modifications and embodiments thereto. Therefore, the present description should be seen as illustrative and not limiting. While the invention is susceptible to various modifications and alternative constructions, it should be understood, that there is no intention to limit the invention to the specific form disclosed, but, on the contrary, the invention is to cover all modifications, alternative constructions, and equivalents falling within the spirit and scope of the invention as defined in the claims.

[0019] In any embodiment described herein, the open-ended terms "comprising," "comprises,” and the like (which are synonymous with "including," "having” and "characterized by") may be replaced by the respective partially closed phrases "consisting essentially of," consists essentially of," and the like or the respective closed phrases "consisting of," "consists of, the like.

[0020] As used herein, the singular forms “a,” “an,” and “the” designate both the singular and the plural, unless expressly stated to designate the singular only.

[0021] The present invention relates to an automated crop harvesting device that harvest crop from an agricultural field in an automated manner by detecting the ripened crop and accordingly cuts the ripened crop. Additionally, the proposed device is capable of creating a bundle of the harvested crop by automatically knotting the crop bundle with a twine.

[0022] Referring to Figure 1 and 2, an isometric view of an automated crop harvesting device and an isometric view of a motorized C-shaped clamp associated with the proposed device are illustrated, respectively, comprising a platform 101, plurality of motorized wheels 102 are provided at bottom portion of the platform 101, a touch interactive display panel 103 installed on the platform 101, an artificial intelligence-based imaging unit 104 is installed on the platform 101, a motorized C-shaped clamp 105 is installed on the platform 101 by means of an extendable rod 106, a chamber 201 arranged on the clamp 105 and housing a motorized roller 202, a pair of motorized clippers 203 are installed on inner periphery of the clamp 105, a motorized circular slider 204 integrated in between the clipper and clamp 105, a motorized cutter 107 mounted on the platform 101 by means of a robotic link 108, a container 109 positioned on the platform 101, and a speaker 110 installed on the platform 101.

[0023] The device disclosed herein comprises of a platform 101 incorporating various components associated with the device and developed to be positioned on a ground surface of an agricultural field by means of multiple motorized wheels 102 (ranging from 4 to 6 in numbers) arranged underneath the platform 101, each by means of a supporting rod. The platform 101 serves as the core component of the device and is made from strong, lightweight, and water proof materials which includes but not limited to hardened steel, aluminum alloy, hard fiber, and composite materials. These materials offer strength and rigidity to the platform 101 making the platform 101 resistant to mechanical stress and pressure.

[0024] A user is required to activate the device manually by pressing a button installed on the platform 101 and linked with an inbuilt microcontroller associated with the device. The button is a type of switch that is internally connected with the device via multiple circuits that upon pressing by the user, the circuits get closed and starts conduction of electricity that tends to activate the device and vice versa.

[0025] After activation of the device, the user is required to access a touch interactive display panel 103 installed on the platform 101 to provide input specifications for harvesting crop from the field. The touch interactive display panel 103 used herein is a type of Liquid Crystal Display (LCD) that detect touch input from a user. It consists of both an input unit (preferably a capacitive touch panel) and an output unit (a visual display). The capacitive touch panel is layered on the top of the visual display. The touch panel consists of an insulator such as glass, coated with a transparent conductor, such as indium tin oxide (ITO).

[0026] When the user touches the surface of the display panel 103 for giving input commands, the electrostatic field of the display panel 103 gets distorted, that is measured as a change in capacitance. This change in capacitance is used to determine the location of the touch. The determined location of the touch is then sent in the form of electrical signals to the microcontroller linked with the display panel 103.

[0027] The microcontroller further processes the received signals in order to determine input specifications. Accordingly, the microcontroller actuates an artificial intelligence-based imaging unit 104 installed on the platform 101 and paired with a processor for capturing and processing multiple images in vicinity of the platform 101. The artificial intelligence-based imaging unit 104 comprises of a high-resolution camera lens, digital camera sensor and a processor, wherein the lens captures multiple images from different angles and perspectives in vicinity of the platform 101 with the help of digital camera sensor for providing comprehensive coverage of the agricultural field.

[0028] The captured images then go through pre-processing steps by the processor integrated with the camera. The processor carries out a sequence of image processing operation including pre-processing, feature extraction and classification in order to enhance the image quality, which includes adjusting brightness and contrast and removing any distortion or noise. The pre-processed images are transmitted to the microcontroller linked with the processor in the form of electrical signals.

[0029] The microcontroller processes the received signals in order to determine distance of the crops from the platform 101. Accordingly, the microcontroller actuates the wheels 102 for maneuvering the platform 101 over the surface and position in proximity to crop. The motorized wheels 102 are a circular object that revolves on an axle to enable the platform 101 to translate easily. The supporting rods helps to maintain an optimum distance between the base of the platform 101 and the surface to enable the platform 101 to maneuver easily over the surface of the agricultural field.

[0030] A hub motor is integrated into the hub of the wheels 102. The hub motor is an electric motor that comprises of a series of permanent magnets and electromagnetic coils. When the motor is activated, a magnetic field is set up in the coil and when the magnetic field of the coil interacts with the magnetic field
of the permanent magnets, a magnetic torque is generated causing the stator
of the motor to turn and that provides the rotational motion to the wheels 102 to maneuver the platform 101 over the surface and position in proximity to the crop.

[0031] Post positioning of the platform 101, the microcontroller actuates an extendable rod 106 installed on the platform 101 to extend/retract for positioning a motorized C-shaped clamp 105 integrated with the rod 106 in proximity to bundle stem of the crop. The extension of the rod 106 is powered by a pneumatic unit associated with device that includes an air compressor, air cylinder, air valves and piston which works in collaboration to aid in extension and retraction of the rod 106.

[0032] The air compressor used herein extract the air from surrounding and increases the pressure of the air by reducing the volume of the air. The air compressor is consisting of two main parts including a motor and a pump. The motor powers the compressor pump which uses the energy from the motor drive to draw in atmospheric air and compress to elevated pressure. The compressed air is then sent through a discharge tube into the cylinder across the valve. The compressed air in the cylinder tends to pushes out the piston to extend. The piston is attached to the rod 106, wherein the extension of the piston corresponds to the extension of the rod 106 in order to position the clamp 105 in proximity to bundle stem of the crop.

[0033] Post positioning of the clamp 105, the microcontroller in association with a laser sensor embedded in the clamp 105, detect dimensions of the bundle stem. The laser sensor emits a focused and narrow beam toward the bundle stem. When the laser beam strikes the bundle stem, some of the light gets reflected back towards the sensor. The receiver of the laser sensor captures the reflected light and employs a time-of-flight measurement principle to determine dimensions of the bundle stem and sends the data to the microcontroller linked with the laser sensor in the form of electrical signal.

[0034] The microcontroller processes the received data to determine dimensions of the bundle stem and accordingly generates a command to actuate the clamp 105 to acquire grip of the stem. The clamp 105 consists of a motorized C-shaped claw, a small electric motor, a gear or threaded rod mechanism, and a soft lining material inside the clamp 105. The microcontroller, sends signals to the motor to actuate the clamp 105. When a signal is received, the motor turns, driving the gear or threaded rod mechanism. This mechanism converts the rotational motion of the motor into linear movement, allowing the C-shaped claw to expand/contract and acquire a grip of the stem for securely accommodating the stem.

[0035] The clamp 105 is installed with a chamber 201 housing a motorized roller 202 coiled with twines, wherein upon gripping of the stem, the microcontroller actuates the roller 202 to rotate and dispense a twine from an opening carved on the chamber 201. The motorized roller 202 used herein is a mechanical unit designed to rotate on its axis with the help of an integrated electric motor. The roller 202 consists of a cylindrical roller tube that serves as a surface for accommodating the twines.

[0036] The motorized roller 202 is equipped with an electric motor that provides the rotational power necessary to turn the roller 202. The motor is connected to the roller tube through a drive mechanism, which involves gears, belts to transfer the motor’s rotational force to the roller 202, causing the roller 202 to spin and dispense a twine from the opening carved on the chamber 201. Simultaneously, the microcontroller actuates a pair of motorized clippers 203 installed on inner periphery of the clamp 105, to acquire a grip of ends of the dispensed twine.

[0037] The motorized clipper is operated by a pair of clippers 203 which are alternately squeezed together and released for gripping or releasing the twine and is driven by a motor which makes the blades of clipper to oscillate from side to side. Upon actuation of the motorized clippers 203 by the microcontroller, the motor rotates the blade to oscillate and grip the free-end of the dispensed twine.

[0038] Once the twine is gripped by the clippers 203, the microcontroller actuates a motorized circular slider 204 integrated in between the clipper and clamp 105 for translating the clippers 203, to wrap the twine around the grabbed bundle stem of the crop. The motorized circular slider 204 consists of a circular track, a motor, and a carriage or platform 101 mounted on the track. The motor, often a stepper or servo motor, drives the carriage around the track using a gear or belt system. By controlling the motor's speed and direction, precise circular sliding movement of the clippers 203 is achieved in order to rotate the clippers 203 to wrap the twine around the grabbed bundle stem of the crop. The clippers 203 are equipped with a machine learning protocol relating knotting of the twine, which enables the clippers 203 to wrap and secure the twine around the bundle stem.

[0039] Simultaneously, the microcontroller by means of a color sensor embedded in the clamp 105 detect ripened crop from the field. The color sensor emits a light, usually a white light onto the crop. The crop reflects the white light, and the color sensor captures the reflected light. The color sensor measures the intensity of the reflected light across different wavelengths to detect color of the crop and sends the data to the microcontroller in the form of electrical signal based on which the microcontroller detects the ripening of the crop and accordingly regulates actuation of the roller 202 and clippers 203 to wrap the twine around the grabbed bundle stem of the crop.

[0040] Once the twine is wrapped around the grabbed bundle, the microcontroller actuates a robotic link 108 mounted on the platform 101 to position a motorized cutter 107 integrated with the robotic link 108 on bottom portion of the stem. The robotic link 108 mainly comprises of motor controllers, arm, end effector and sensors.

[0041] The arm is the essential part of the robotic link 108 and it comprises of three parts, the shoulder, elbow and wrist. All these components are connected through joints, with the shoulder resting at the base of the arm, and connected to the microcontroller. The elbow is in the middle and allows the upper section of the link 108 to move forward or backward independently of the lower section. Finally, the wrist is at the very end of the upper arm and attached to the cutter 107 that is moved by the link 108 and positioned in proximity to the bottom portion of the stem.

[0042] Once the cutter 107 is positioned, the microcontroller actuates the cutter 107 to rotate for cutting the bottom portion of the stem. The cutter 107 is coupled with a DC (direct current) motor that is actuated by the microcontroller to rotate the cutter 107 with specified speed and cut the stem for harvesting the crop. Upon successfully forming bundle of the harvested crop, the microcontroller directs the rod 106 and clamp 105 to position the harvested crop into a container 109 positioned on the platform 101 for collecting the harvested crop and allow the user to collect the harvested crop.

[0043] During collection of the harvested crop, the microcontroller by means of a weight sensor embedded in the container 109, measure weight of the harvested crop bundles. The weight sensor used herein is a particular kind of transducer, more especially a weight transducer, which transform a mechanical force that is applied as an input, by the weight of the harvested crop bundles, into a change in electrical resistance, which varies proportionally to the force being applied to the sensor. This change in electrical resistance is detected by the microcontroller linked with the sensor, in the form of an electrical signal.

[0044] The microcontroller processes the received signals from the weight sensor in order to monitor weight of the collected harvested crop bundles and accordingly actuates a speaker 110 installed on the platform 101 to produce audio signals for notifying the user to collect the harvested crop. The speaker 110 used herein is capable of producing clear and natural sound and is capable of adjusting its volume based on ambient noise levels.

[0045] The speaker 110 consists of audio information, which is in the form of recorded voice, synthesized voice, or other sounds, generated or stored as digital data. The digital audio data is converted into analog electrical signals. Further the analog signal is amplified by an amplifier and the amplified electrical audio signal is then sent to a diaphragm, which is typically made of a lightweight and rigid material like paper, plastic, or metal, and is designed to vibrate or move back and forth when electrical signals are fed to it. This movement creates pressure variations in the surrounding air, generating sound waves in order to generate the audible sound for notifying the user to collect the harvested crop bundles.

[0046] Lastly, a battery is installed within the device which is connected to the microcontroller that supplies current to all the electrically powered components that needs an amount of electric power to perform their functions and operation in an efficient manner. The battery utilized here, is generally a dry battery which is made up of Lithium-ion material that gives the device a long-lasting as well as an efficient DC (Direct Current) current which helps every component to function properly in an efficient manner. As the device is battery operated and do not need any electrical voltage for functioning. Hence the presence of battery leads to the portability of the device i.e., user is able to place as well as moves the device from one place to another as per the requirements.

[0047] The proposed invention works best in the following manner, where the platform 101 is developed to be positioned on the ground surface of the agricultural field. The user access the touch interactive display panel 103 to provide input specifications for harvesting crop from the field. Based on which, the artificial intelligence-based imaging unit 104 paired with the processor determine distance of the crops from the platform 101 and direct the motorized wheels 102 to provide mobility to the platform 101 over the surface and positon the platform 101 in proximity to the crop. Upon positioning, the extendable rod 106 extend/retract for positioning the motorized C-shaped clamp 105 in proximity to bundle stem of the crop. After which the laser sensor detect dimensions of the bundle stem. Based on which the clamp 105 acquires grip of the stem. Upon gripping, the motorized roller 202 dispenses the twine from the opening carved on the chamber 201 and the pair of motorized clippers 203 acquire the grip of ends of the twine. Afterwards, the motorized circular slider 204 translates the clippers 203 to wrap the twine around the grabbed bundle stem of the crop. The clippers 203 are equipped with the machine learning protocol relating knotting of the twine which enables the clippers 203 to wrap and secure the twine around the bundle stem. Further, the robotic link 108 position the motorized cutter 107 on bottom portion of the stem to cut the stem for harvesting the crop. Upon successfully forming bundle of the harvested crop the rod 106 and clamp 105 position the harvested crop into the container 109 for collecting the harvested crop. Thereby allowing the user to collect the harvested crop. Simultaneously, the weight sensor measures weight of the harvested crop bundles and accordingly the speaker 110 produces audio signals to notify the user to gather the harvested crop.

[0048] Although the field of the invention has been described herein with limited reference to specific embodiments, this description is not meant to be construed in a limiting sense. Various modifications of the disclosed embodiments, as well as alternate embodiments of the invention, will become apparent to persons skilled in the art upon reference to the description of the invention. , Claims:1) An automated crop harvesting device, comprising:

i) a platform 101 developed to be positioned on a ground surface of an agricultural field, wherein plurality of motorized wheels 102 are provided at bottom portion of said platform 101 to providing mobility to said platform 101 over said surface;
ii) a touch interactive display panel 103 installed on said platform 101 for enabling a user to provide input specifications for harvesting crop from said field, wherein an artificial intelligence-based imaging unit 104 is installed on said platform 101 and paired with a processor for capturing and processing multiple images in vicinity of said platform 101, respectively to determine distance of said crops from said platform 101;
iii) a microcontroller linked with said imaging unit 104 for processing said distance, and direct said wheels 102 to move said platform 101 over said surface, to positon said platform 101 in proximity to said crop, wherein a motorized C-shaped clamp 105 is installed on said platform 101 by means of an extendable rod 106 that is actuated by said microcontroller to extend/retract for positioning said clamp 105 in proximity to bundle stem of said crop, followed by activation of a laser sensor embedded in said clamp 105, to detect dimensions of said bundle stem, based on which said clamp 105 acquires grip of said stem;
iv) a chamber 201 arranged on said clamp 105 housing a motorized roller 202 coiled with twines, that is actuated by said microcontroller for rotating to dispense a twine, from an opening carved on said chamber 201, wherein a pair of motorized clippers 203 are installed on inner periphery of said clamp 105, to acquire a grip of ends of said twine, followed by actuation of a motorized circular slider 204 integrated in between said clipper and clamp 105 for translating said clippers 203, to wrap said twine around said grabbed bundle stem of said crop; and
v) a motorized cutter 107 mounted on said platform 101 by means of a robotic link 108 for positioning said cutter 107 on bottom portion of said stem, in view of enabling said cutter 107 to cut said stem for harvesting said crop, wherein upon successfully forming bundle of said harvested crop, said microcontroller directs said rod 106 and clamp 105 to position said harvested crop into a container 109 positioned on said platform 101, for collecting said harvested crop, thereby allowing said user to collect said harvested crop.

2) The device as claimed in claim 1, wherein a color sensor is embedded in said clamp 105 to detect ripened crop from said field, based on which said microcontroller regulates actuation of said roller 202 and clippers 203.

3) The device as claimed in claim 1, wherein said clippers 203 are equipped with a machine learning protocol relating knotting of said twine, which enables said clippers 203 to wrap and secure said twine around said bundle stem.

4) The device as claimed in claim 1, wherein a weight sensor is embedded in said container 109 for measuring weight of said harvested crop bundles, based on which said microcontroller actuates a speaker 110 installed on said platform 101 for producing audio signals to notify said user to gather said harvested crop.

5) The device as claimed in claim 1, wherein a battery is configured with said device for providing a continuous power supply to electronically powered components associated with said device.